#ifndef NAVIGATION_H
#define NAVIGATION_H
#include "robocon.h"

#define climbing_correction 4
#define test1_correction    3
#define normal_correction   2

#define Permit 1
#define Deny   0

extern float step_len_dev;
extern float step_high_dev;
extern float step_len_initial;
extern float step_high_initial;
extern float flight_percent_dev;

extern float yaw_now;
extern float yaw_set;

extern float roll_offset;
extern float pitch_offset;

extern int  LinearCorrection;
extern bool BalanceCorrection;

extern float _dev_angel;
extern int   stage;
extern int   _count_navi;

void navigation_execute(void);
#endif
